Date-driven deadbeat sliding mode control using input/output differences

Abstract

This paper addresses the problem of data-driven control for a general class of nonlinear systems, for which dynamic parametrization is proposed to attain input/output difference representations. By choosing an appropriate switching variable, the adopted strategy of dead-beat sliding-mode control applies the dead-beat reaching law; and asserts global sliding mode that assures the prescribed dynamic performance, with the aid of the parameter estimation and the prediction-error observation. The performance analysis is carried out for deriving absolute attracting layer bound, steady-state error band of the tracking error, and the convergence steps. The control design that does not require exact knowledge about the dynamics structures and system orders uses only the input/output measurement data. The novelty also lies in the fixed-step convergence of closed-loop error dynamics. Numerical results are presented to verify effectiveness of the proposed data-driven control scheme.